Skin spatial calibration using force/torque measurements. - Andrea Del Prete; Simone Denei; Lorenzo Natale; Fulvio Mastrogiovanni; Francesco Nori; Giorgio Cannata; Giorgio Metta (IROS, 2011)

Control of contact forces: The role of tactile feedback for contact localization. - Andrea Del Prete; Francesco Nori; Giorgio Metta; Lorenzo Natale (IROS, 2012)

Perception during interaction is not based on statistical context. - Alessandra Sciutti; Andrea Del Prete; Lorenzo Natale; David Burr; Giulio Sandini; Monica Gori (HRI, 2013)

Inertial parameter identification including friction and motor dynamics. - Silvio Traversaro; Andrea Del Prete; Riccardo Muradore; Lorenzo Natale; Francesco Nori (Humanoids, 2013)

Prioritized optimal control. - Andrea Del Prete; Francesco Romano; Lorenzo Natale; Giorgio Metta; Giulio Sandini; Francesco Nori (ICRA, 2014)

Partial force control of constrained floating-base robots. - Andrea Del Prete; Nicolas Mansard; Francesco Nori; Giorgio Metta; Lorenzo Natale (IROS, 2014)

Prioritized optimal control: A hierarchical differential dynamic programming approach. - Francesco Romano; Andrea Del Prete; Nicolas Mansard; Francesco Nori (ICRA, 2015)

Inertial parameters identification and joint torques estimation with proximal force/torque sensing. - Silvio Traversaro; Andrea Del Prete; Serena Ivaldi; Francesco Nori (ICRA, 2015)

Whole-body model-predictive control applied to the HRP-2 humanoid. - Jonas Koenemann; Andrea Del Prete; Yuval Tassa; Emanuel Todorov; Olivier Stasse; Maren Bennewitz; Nicolas Mansard (IROS, 2015)

Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. - Andrea Del Prete; Nicolas Mansard (Robotics: Science and Systems, 2015)

iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts. - Francesco Nori; Silvio Traversaro; Jorhabib Eljaik; Francesco Romano; Andrea Del Prete; Daniele Pucci (Frontiers Robotics AI, 2015)

Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics". - Andrea Del Prete; Francesco Nori; Giorgio Metta; Lorenzo Natale (Robotics Auton. Syst., 2015)

Fast algorithms to test robust static equilibrium for legged robots. - Andrea Del Prete; Steve Tonneau; Nicolas Mansard (ICRA, 2016)

Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. - Andrea Del Prete; Nicolas Mansard; Oscar E. Ramos; Olivier Stasse; Francesco Nori (Int. J. Humanoid Robotics, 2016)

Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. - Andrea Del Prete; Nicolas Mansard (IEEE Trans. Robotics, 2016)

Experimental evaluation of simple estimators for humanoid robots. - Thomas Flayols; Andrea Del Prete; Patrick M. Wensing; Alexis Mifsud; Mehdi Benallegue; Olivier Stasse (Humanoids, 2017)

TALOS: A new humanoid research platform targeted for industrial applications. - Olivier Stasse; Thomas Flayols; Rohan Budhiraja; Kevin Giraud-Esclasse; Justin Carpentier; Joseph Mirabel; Andrea Del Prete; Philippe Souères; Nicolas Mansard; Florent Lamiraux; Jean-Paul Laumond; Luca Marchionni; et al. (Humanoids, 2017)

Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground. - Nirmal Giftsun; Andrea Del Prete; Florent Lamiraux (ICINCO (1), 2017)

A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems. - Francesco Romano; Silvio Traversaro; Daniele Pucci; Jorhabib Eljaik; Andrea Del Prete; Francesco Nori (IRC, 2017)

A kinodynamic steering-method for legged multi-contact locomotion. - Pierre Fernbach; Steve Tonneau; Andrea Del Prete; Michel Taïx (IROS, 2017)

Online payload identification for quadruped robots. - Guido Tournois; Michele Focchi; Andrea Del Prete; Romeo Orsolino; Darwin G. Caldwell; Claudio Semini (IROS, 2017)

High-slope terrain locomotion for torque-controlled quadruped robots. - Michele Focchi; Andrea Del Prete; Ioannis Havoutis; Roy Featherstone; Darwin G. Caldwell; Claudio Semini (Auton. Robots, 2017)

Regularized Hierarchical Differential Dynamic Programming. - Mathieu Geisert; Andrea Del Prete; Nicolas Mansard; Francesco Romano; Francesco Nori (IEEE Trans. Robotics, 2017)

On Time Optimization of Centroidal Momentum Dynamics. - Brahayam Ponton; Alexander Herzog; Andrea Del Prete; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators. - Andrea Del Prete (IEEE Robotics Autom. Lett., 2018)

2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. - Steve Tonneau; Pierre Fernbach; Andrea Del Prete; Julien Pettré; Nicolas Mansard (ACM Trans. Graph., 2018)

Zero Step Capturability for Legged Robots in Multicontact. - Andrea Del Prete; Steve Tonneau; Nicolas Mansard (IEEE Trans. Robotics, 2018)

An Efficient Acyclic Contact Planner for Multiped Robots. - Steve Tonneau; Andrea Del Prete; Julien Pettré; Chonhyon Park; Dinesh Manocha; Nicolas Mansard (IEEE Trans. Robotics, 2018)

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning. - Mohammad Hasan Yeganegi; Majid Khadiv; S. Ali A. Moosavian; Jia-Jie Zhu; Andrea Del Prete; Ludovic Righetti (Humanoids, 2019)

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. - Steve Tonneau; Daeun Song; Pierre Fernbach; Nicolas Mansard; Michel Taïx; Andrea Del Prete (ICRA, 2020)

Robust walking based on MPC with viability-based feasibility guarantees. - Mohammad Hasan Yeganegi; Majid Khadiv; Andrea Del Prete; S. Ali A. Moosavian; Ludovic Righetti (CoRR, 2020)

Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots. - Michele Focchi; Daniele Pucci; Andrea Del Prete (Frontiers Robotics AI, 2020)

One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming. - Gabriel Bravo-Palacios; Andrea Del Prete; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2020)

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (HUMANOIDS, 2021)

Computational design of energy-efficient legged robots: Optimizing for size and actuators. - Gabriele Fadini; Thomas Flayols; Andrea Del Prete; Nicolas Mansard; Philippe Souères (ICRA, 2021)

Exploring the Limits of a Redundant Actuation System Through Co-Design. - Gianluigi Grandesso; Gabriel Bravo-Palacios; Patrick M. Wensing; Marco Fontana; Andrea Del Prete (IEEE Access, 2021)

Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts. - Bilal Hammoud; Luca Olivieri; Ludovic Righetti; Justin Carpentier; Andrea Del Prete (CoRR, 2021)

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization. - Daeun Song; Pierre Fernbach; Thomas Flayols; Andrea Del Prete; Nicolas Mansard; Steve Tonneau; Young J. Kim (IEEE Robotics Autom. Lett., 2021)

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. - Ahmad Gazar; Majid Khadiv; Sébastien Kleff; Andrea Del Prete; Ludovic Righetti (ISRR, 2022)

CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. - Gianluigi Grandesso; Gastone Pietro Rosati Papini; Patrick M. Wensing; Andrea Del Prete (CoRR, 2022)

Simulation Aided Co-Design for Robust Robot Optimization. - Gabriele Fadini; Thomas Flayols; Andrea Del Prete; Philippe Souères (IEEE Robotics Autom. Lett., 2022)

Robust Walking Based on MPC With Viability Guarantees. - Mohammad Hasan Yeganegi; Majid Khadiv; Andrea Del Prete; S. Ali A. Moosavian; Ludovic Righetti (IEEE Trans. Robotics, 2022)

Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons. - Matteo Zuccatti; Gaia Zinni; Stefano Maludrottu; Valentina Pericu; Matteo Laffranchi; Andrea Del Prete; Lorenzo De Michieli; Christian Vassallo (ICORR, 2023)

CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments. - Michele Focchi; Mohamed Bensaadallah; Marco Frego; Angelika Peer; Daniele Fontanelli; Andrea Del Prete; Luigi Palopoli 002 (ICRA, 2023)

Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators. - Erik Zanolli; Andrea Del Prete (IROS, 2023)

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (CoRR, 2023)

Efficient Reinforcement Learning for Jumping Monopods. - Riccardo Bussola; Michele Focchi; Andrea Del Prete; Daniele Fontanelli; Luigi Palopoli 002 (CoRR, 2023)

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots. - Francesco Roscia; Andrea Cumerlotti; Andrea Del Prete; Claudio Semini; Michele Focchi (Sensors, 2023)

CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality. - Gianluigi Grandesso; Elisa Alboni; Gastone Pietro Rosati Papini; Patrick M. Wensing; Andrea Del Prete (IEEE Robotics Autom. Lett., 2023)

VBOC: Learning the Viability Boundary of a Robot Manipulator Using Optimal Control. - Asia La Rocca; Matteo Saveriano; Andrea Del Prete (IEEE Robotics Autom. Lett., 2023)

Reactive Landing Controller for Quadruped Robots. - Francesco Roscia; Michele Focchi; Andrea Del Prete; Darwin G. Caldwell; Claudio Semini (IEEE Robotics Autom. Lett., 2023)

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set. - Gianni Lunardi; Asia La Rocca; Matteo Saveriano; Andrea Del Prete (ICRA, 2024)

CACTO-SL: Using Sobolev learning to improve continuous actor-critic with trajectory optimization. - Elisa Alboni; Gianluigi Grandesso; Gastone Pietro Rosati Papini; Justin Carpentier; Andrea Del Prete (L4DC, 2024)

Reference-Free Model Predictive Control for Quadrupedal Locomotion. - Gianni Lunardi; Thomas Corbères; Carlos Mastalli; Nicolas Mansard; Thomas Flayols; Steve Tonneau; Andrea Del Prete (IEEE Access, 2024)

Co-designing versatile quadruped robots for dynamic and energy-efficient motions. - Gabriele Fadini; Shivesh Kumar; Rohit Kumar; Thomas Flayols; Andrea Del Prete; Justin Carpentier; Philippe Souères (Robotica, 2024)

Optimization-Based Control for Dynamic Legged Robots. - Patrick M. Wensing; Michael Posa; Yue Hu 001; Adrien Escande; Nicolas Mansard; Andrea Del Prete (IEEE Trans. Robotics, 2024)

Efficient Reinforcement Learning for 3D Jumping Monopods. - Riccardo Bussola; Michele Focchi; Andrea Del Prete; Daniele Fontanelli; Luigi Palopoli 002 (Sensors, 2024)

Analytical Integral Global Optimization. - Sébastien Labbé 001; Andrea Del Prete (L4DC, 2025)

Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading. - Riccardo Bertollo; Gianni Lunardi; Andrea Del Prete; Luca Zaccarian (Autom., 2025)

ALPINE: A climbing robot for operations in mountain environments. - Michele Focchi; Andrea Del Prete; Daniele Fontanelli; Marco Frego; Angelika Peer; Luigi Palopoli 002 (Robotics Auton. Syst., 2025)

Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization. - Enrico Mingo Hoffman; Daniel Costanzi; Gabriele Fadini; Narcís Miguel; Andrea Del Prete; Luca Marchionni (IEEE Robotics Autom. Lett., 2025)